Abstract [en]

The problem addressed is controlling the relative position between the robot and an object using a sequence of operations specified at a high level. The goal is telecommands for robots to operate over a communication net with low bandwidth, a non-neglectable time delay and time jitter. Using an eye in hand range sensor, motion commands can be entered and executed relative to a range map generated from measurements. The ratio of task relevant information/bandwidth is high for this sensor (it returns range in a plane between fingers in the gripper). Conventional images are only sent to the operator at "fax rate"